CN114286306B

CN114286306B - Indoor signal positioning method, device, computer equipment and storage medium

Info

Publication number: CN114286306B
Application number: CN202111613410.XA
Authority: CN
Inventors: 苗功勋; 刘志远; 王帅; 范金平; 刘毅
Original assignee: BEIJING ZHONGFU TAIHE TECHNOLOGY DEVELOPMENT CO LTD; Nanjing Zhongfu Information Technology Co Ltd; Zhongfu Information Co Ltd; Zhongfu Safety Technology Co Ltd
Current assignee: BEIJING ZHONGFU TAIHE TECHNOLOGY DEVELOPMENT CO LTD; Nanjing Zhongfu Information Technology Co Ltd; Zhongfu Information Co Ltd; Zhongfu Safety Technology Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2024-02-20
Anticipated expiration: 2041-12-27
Also published as: CN114286306A

Abstract

The application provides an indoor signal positioning method, an indoor signal positioning device, computer equipment and a storage medium, and relates to the technical field of communication. The method comprises the following steps: processing an intensity fingerprint library of a preset reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected; the intensity fingerprint library of the reference three-dimensional space comprises: the signal source is in the reference signal intensity value of a plurality of reference positions in the reference three-dimensional space, the intensity fingerprint library of the three-dimensional space to be measured has: predicted signal intensity values of a signal source at a plurality of reference positions in a three-dimensional space to be measured; acquiring a target signal intensity value acquired by a signal detector in a three-dimensional space to be detected; and according to the target signal intensity value, determining the position of the signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as a target position by adopting an intensity fingerprint library of the three-dimensional space to be detected. The method can realize the wide popularization and use of the indoor signal positioning method.

Description

Indoor signal positioning method, device, computer equipment and storage medium

Technical Field

The present invention relates to the field of communications technologies, and in particular, to an indoor signal positioning method, an indoor signal positioning device, a computer device, and a storage medium.

Background

Along with the development of the internet of things, the application scenes of the indoor positioning technology are more and more.

The current mainstream indoor positioning algorithm is mainly divided into a method for positioning according to the arrival information of signals and a method for positioning directly according to the received signal strength. The method for positioning according to the arrival information of the signals adopts a plurality of signal detection devices to detect the arrival information of the signals, and has higher requirements on hardware equipment, and the cost of the hardware equipment is very high, so that the method is not beneficial to popularization and use in a large range. The method for positioning directly according to the received signal strength only needs the signal strength which can be detected by the signal detection equipment, and has lower requirements on hardware equipment.

However, when the existing method for positioning according to the received signal intensity is used for positioning the indoor signal in each three-dimensional space, an intensity fingerprint library needs to be independently built for each three-dimensional space, and the method is not beneficial to wide popularization and use.

Disclosure of Invention

The invention aims to provide an indoor signal positioning method, an indoor signal positioning device, computer equipment and a storage medium for overcoming the defects in the prior art, so that the indoor signal positioning method can be widely popularized and used.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

in a first aspect, an embodiment of the present application provides an indoor signal positioning method, where the method includes:

processing an intensity fingerprint library of a preset reference three-dimensional space according to size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected; wherein, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when the signal source is at the reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same;

acquiring a target signal intensity value acquired by the signal detector in the three-dimensional space to be detected;

and determining the position of a signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting the intensity fingerprint library of the three-dimensional space to be detected according to the target signal intensity value.

Optionally, the processing the preset intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be measured to obtain the intensity fingerprint library of the three-dimensional space to be measured includes:

according to the size information of the three-dimensional space to be detected, carrying out data expansion processing on the reference signal intensity values at the plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space to obtain predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected;

and determining an intensity fingerprint library of the three-dimensional space to be detected according to the corresponding relation between the predicted signal intensity values of the signal detectors at the reference positions in the three-dimensional space to be detected and the reference positions.

Optionally, the performing data expansion processing on the reference signal intensity values at the multiple reference positions in the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be measured to obtain predicted signal intensity values of the signal detector at the multiple reference positions in the three-dimensional space to be measured, including:

respectively calculating mapping relations between reference signal intensity values and predicted signal intensity values at the plurality of reference positions according to the size information of the three-dimensional space to be detected, the plurality of reference positions, the size information of the reference three-dimensional space, the target position of the signal detector in the three-dimensional space to be detected and preset path loss;

And according to the mapping relation, performing data expansion processing on the reference signal intensity values at the plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space to obtain predicted signal intensity values of the signal detector at the plurality of reference positions in the three-dimensional space to be detected.

Optionally, the determining, according to the target signal strength value, the position of the signal source corresponding to the predicted signal strength value that is most matched with the target signal strength value by using the strength fingerprint library of the three-dimensional space to be measured, as the target position of the signal source in the three-dimensional space to be measured includes:

calculating Euclidean distance between the target signal intensity value and the predicted signal intensity value at each reference position in the intensity fingerprint library of the three-dimensional space to be detected;

determining a reference position corresponding to a predicted signal intensity value closest to the Euclidean distance between the target signal intensity values from an intensity fingerprint library of the three-dimensional space to be detected;

and determining the target position of the signal source in the three-dimensional space to be detected according to the reference position corresponding to the predicted signal intensity value with the nearest Euclidean distance.

Optionally, the determining, according to the reference position corresponding to the predicted signal strength value with the closest euclidean distance, the target position of the signal source in the three-dimensional space to be measured includes:

Determining weights of K predicted signal intensity values according to the Euclidean distances between K predicted signal intensity values with the nearest Euclidean distance and the target signal intensity value;

and calculating the target position of the signal source in the three-dimensional space to be measured according to the reference positions corresponding to the K predicted signal intensity values and the weights of the K predicted signal intensity values.

Optionally, if the number of the signal detectors is plural, the calculating the euclidean distance between the target signal intensity value and the predicted signal intensity value at each reference position in the intensity fingerprint library of the three-dimensional space to be measured includes:

calculating Euclidean distance between a target signal intensity value array and a predicted signal intensity value array at each reference position in an intensity fingerprint library of the three-dimensional space to be detected by adopting a preset weighting approach algorithm;

wherein, the target signal intensity value array comprises: a plurality of signal intensity values acquired by a plurality of signal detectors in the three-dimensional space to be detected; the predicted signal strength value array includes: and a plurality of signal detectors are used for predicting a plurality of signal intensity values in the three-dimensional space to be detected.

Optionally, the obtaining the target signal intensity value acquired by the signal detector in the three-dimensional space to be detected includes:

Acquiring a plurality of wireless signal intensity values acquired by the signal detector;

and determining the signal intensity value corresponding to the signal source as the target signal intensity value from the plurality of wireless signal intensity values according to the preset address of the signal source.

In a second aspect, embodiments of the present application further provide an indoor signal positioning device, where the device includes:

the system comprises a to-be-detected intensity fingerprint library determining module, a detection module and a detection module, wherein the to-be-detected intensity fingerprint library determining module is used for processing an intensity fingerprint library of a preset reference three-dimensional space according to size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected; wherein, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when the signal source is at the reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same;

The target signal intensity value acquisition module is used for acquiring a target signal intensity value acquired by the signal detector in the three-dimensional space to be detected;

and the target position determining module is used for determining the position of the signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting the intensity fingerprint library of the three-dimensional space to be detected according to the target signal intensity value.

Optionally, the module for determining the fingerprint library of the strength to be detected includes:

the reference signal intensity value determining unit is used for carrying out data expansion processing on the reference signal intensity values at the plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain predicted signal intensity values of the signal detector at the plurality of reference positions in the three-dimensional space to be detected;

the to-be-detected intensity fingerprint library determining unit is used for determining an intensity fingerprint library of the to-be-detected three-dimensional space according to the corresponding relation between the predicted signal intensity values of the signal detectors at the reference positions and the reference positions in the to-be-detected three-dimensional space.

Optionally, the reference signal strength value determining unit includes:

a mapping relation determining subunit, configured to calculate mapping relations between reference signal strength values and predicted signal strength values at the multiple reference positions according to the size information of the three-dimensional space to be measured, the multiple reference positions, the size information of the reference three-dimensional space, the target position of the signal detector in the three-dimensional space to be measured, and a preset path loss, respectively;

and the expansion processing subunit is used for carrying out data expansion processing on the reference signal intensity values at the plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the mapping relation to obtain the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected.

Optionally, the target position determining module includes:

the Euclidean distance calculation unit is used for calculating Euclidean distances between the target signal intensity value and the predicted signal intensity values at each reference position in the intensity fingerprint library of the three-dimensional space to be detected;

the reference position determining unit is used for determining a reference position corresponding to a predicted signal intensity value with the nearest Euclidean distance between the target signal intensity values from an intensity fingerprint library of the three-dimensional space to be detected;

And the target position determining unit is used for determining the target position of the signal source in the three-dimensional space to be detected according to the reference position corresponding to the predicted signal intensity value with the nearest Euclidean distance.

Optionally, the target position determining unit includes:

the weight calculation subunit is used for determining the weights of the K predicted signal intensity values according to the Euclidean distances between the K predicted signal intensity values with the nearest Euclidean distances and the target signal intensity value;

and the weighting calculation subunit is used for calculating the target position of the signal source in the three-dimensional space to be measured according to the reference positions corresponding to the K predicted signal intensity values and the weights of the K predicted signal intensity values.

Optionally, if the number of the signal detectors is multiple, the euclidean distance calculating unit is specifically configured to calculate, by using a preset weighted approach algorithm, a euclidean distance between a target signal intensity value array and a predicted signal intensity value array at each reference position in the intensity fingerprint library of the three-dimensional space to be measured;

Optionally, the target signal strength value obtaining module includes:

the wireless signal intensity value acquisition unit is used for acquiring a plurality of wireless signal intensity values acquired by the signal detector;

and the target signal intensity value acquisition unit is used for determining the signal intensity value corresponding to the signal source as the target signal intensity value from the plurality of wireless signal intensity values according to the preset address of the signal source.

In a third aspect, embodiments of the present application further provide a computer device, including: the indoor signal positioning system comprises a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, when the computer device runs, the processor and the storage medium are communicated through the bus, and the processor executes the program instructions to execute the steps of the indoor signal positioning method according to any one of the embodiments.

In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the indoor signal positioning method according to any of the above embodiments.

The beneficial effects of this application are:

The application provides an indoor signal positioning method, an indoor signal positioning device, computer equipment and a storage medium, wherein the method comprises the following steps: processing an intensity fingerprint library of a preset reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected; wherein, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when at a plurality of reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same; acquiring a target signal intensity value acquired by a signal detector in a three-dimensional space to be detected; and according to the target signal intensity value, determining the position of the signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting an intensity fingerprint library of the three-dimensional space to be detected. According to the scheme, the intensity fingerprint library of any three-dimensional space to be detected with the same contour shape can be flexibly expanded and obtained according to the intensity fingerprint library of the reference three-dimensional space, so that the position of a signal source in the three-dimensional space to be detected is determined based on the intensity fingerprint library of the three-dimensional space to be detected according to the target signal intensity value acquired by the signal detector, the intensity fingerprint library is not required to be acquired and created independently for each three-dimensional space, and the large-scale popularization and use of indoor signal positioning based on the signal intensity are realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of an indoor signal positioning method according to an embodiment of the present application;

fig. 2 is a flowchart illustrating a process of establishing an intensity fingerprint library of a reference three-dimensional space according to an embodiment of the present application;

fig. 3 is a flow chart of another indoor signal positioning method according to an embodiment of the present application;

fig. 4 is a flow chart of another indoor signal positioning method according to an embodiment of the present application;

fig. 5 is a flow chart of another indoor signal positioning method according to an embodiment of the present application;

fig. 6 is a flowchart of still another indoor signal positioning method according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an indoor signal positioning device according to an embodiment of the present application;

Fig. 8 is a schematic diagram of a computer device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Furthermore, the terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, without conflict, features in embodiments of the present application may be combined with each other.

The current mainstream indoor positioning algorithm is mainly divided into a method for positioning according to the arrival information of signals and a method for positioning directly according to the received signal strength. The method for positioning according to the arrival information of the signal comprises the following steps: time of Arrival (TOA), time difference of Arrival (Time Difference of Arrival, TDOA), angle of Arrival (AOA), phase of Arrival (POA), and the like. The method has high requirements on hardware equipment by adopting a plurality of signal detection devices to detect the arrival information of the signals, for example, the arrival time positioning method requires that the time synchronization among the plurality of signal detection devices reaches the level of 10ns, the arrival time difference positioning method requires that the signal detection devices can detect the arrival phase of the signals, and the arrival angle positioning method requires that the signal detection devices can detect the receiving angle of the signals, so that the method can meet the requirements of the method that the cost of the hardware equipment is very high and is not beneficial to popularization and use in a large range.

The method for positioning directly according to the received signal strength can be a received signal strength indication positioning (Received Signal Strength Indicator, RSSI) method, and only the signal detection equipment can detect the signal strength, so that the requirement on hardware equipment is low. However, when the indoor signal of each three-dimensional space is positioned, the existing RSSI method needs to independently create an intensity fingerprint library for each three-dimensional space, which is not beneficial to the wide popularization and use of the method.

Aiming at the technical problems existing in the prior art, the application provides the following technical conception: according to the size information of the three-dimensional space to be measured, the intensity fingerprint library of any three-dimensional space to be measured with the same outline shape is flexibly expanded and obtained based on the intensity fingerprint library of the preset reference three-dimensional space, so that the position of a signal source in the three-dimensional space to be measured is determined based on the intensity fingerprint library of the three-dimensional space to be measured and according to the target signal intensity value acquired by the signal detector, the intensity fingerprint library does not need to be acquired and created independently for each three-dimensional space, and the indoor signal positioning based on the signal intensity is widely popularized and used.

Based on the above description, the indoor signal positioning method, the indoor signal positioning device, the computer equipment and the storage medium provided by the invention are described in detail below.

Referring to fig. 1, a flow chart of an indoor signal positioning method provided in an embodiment of the present application is shown in fig. 1, where the method includes:

s10: and processing the preset intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected.

In this embodiment, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when at a plurality of reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same. In the indoor signal positioning method of the present embodiment, the signal source may be a wireless local area network (Wireless Local Area Network, WLAN) signal transmitting source, and the signal detector is also a corresponding WLAN signal detecting device, such as a WiFi detecting device, and the signal detector may also be referred to as a probe.

Specifically, a signal source is placed at a plurality of reference positions in a reference three-dimensional space, a signal detector is placed at a preset azimuth position in the reference three-dimensional space, signals sent by the signal source at the plurality of reference positions are received, a plurality of reference signal intensity values are collected, a central processing system is a signal processing system running on computer equipment, the plurality of reference signal intensity values sent by the signal detector are obtained, and an intensity fingerprint library of the reference three-dimensional space is established according to the corresponding relation between the plurality of reference positions and the plurality of reference signal intensity values.

The following describes in detail a process of acquiring the intensity values of the reference signal to establish the intensity fingerprint library of the reference three-dimensional space, but this process cannot be the only limitation of the method of establishing the intensity fingerprint library of the reference three-dimensional space.

Referring to fig. 2, a flowchart of a process for creating an intensity fingerprint library of a reference three-dimensional space according to an embodiment of the present application is shown in fig. 2, where the process includes:

s40: the signal detector is deployed at any position within the reference three-dimensional space.

In this embodiment, in order to ensure that the signal detector can detect the reference signal intensity value, the deployment position of the signal detector needs to be determined according to the detection range of the signal detector, and meanwhile, in consideration of the possible obstacle in the reference three-dimensional space, in order to avoid the influence of multipath propagation caused by the obstacle on the reference signal intensity value, the signal detector may be deployed at a position with a certain distance from the ground in the reference three-dimensional space, so as to avoid the influence of the obstacle.

When a plurality of signal detectors are adopted, the plurality of signal detectors can be deployed at a plurality of different positions in the reference three-dimensional space, each signal detector can be guaranteed to detect the reference signal intensity value, and each signal detector has a unique identification.

S50: the reference three-dimensional space is divided into a plurality of lattices, and coordinates of each lattice are labeled.

In this embodiment, a reference three-dimensional space of a preset area is divided, and the reference three-dimensional space is divided into a plurality of lattices of equal size, each lattice having unique coordinates in the reference three-dimensional space.

S60: and placing the signal sources in the center of each grid in sequence, starting the signal sources and enabling the signal sources to send out signals with preset duration.

In this embodiment, the signal source is placed in the center of each lattice in sequence, the signal source is turned on, and the signal source emits a signal for a period of time, and the signal detector collects the reference signal intensity value based on the signal emitted by the signal source.

S70: and acquiring a reference signal intensity value acquired by the signal detector, and establishing an intensity fingerprint library of the reference three-dimensional space by combining the coordinates of the grids and the reference signal intensity value.

In this embodiment, the central processing system acquires the intensity value of the reference signal acquired by the signal detector, and establishes the intensity fingerprint library of the reference three-dimensional space by combining the coordinates of the grid and the intensity value of the reference signal. When a plurality of signal detectors are adopted, the intensity fingerprint library of the reference three-dimensional space comprises: the corresponding relation between the coordinates of each grid and the reference signal intensity value array comprises the following components: and the signal detectors acquire a plurality of reference signal intensity values.

According to the reference three-dimensional space and the to-be-measured three-dimensional space with the same outline shape, the reference signal intensity values of the signal source at the plurality of reference positions in the reference three-dimensional space are processed according to the size information of the to-be-measured three-dimensional space, so that when the signal source is determined to be at the plurality of reference positions in the to-be-measured three-dimensional space, the predicted signal intensity value of the signal detector is the reference signal intensity value of the signal source in the to-be-measured three-dimensional space. And establishing an intensity fingerprint library of the three-dimensional space to be measured according to the corresponding relation between the plurality of reference positions and the predicted signal intensity values of the signal sources at the plurality of reference positions in the three-dimensional space to be measured.

When a plurality of signal detectors are adopted, according to the size information of the three-dimensional space to be detected, according to the orientations of the plurality of signal detectors in the reference three-dimensional space and the three-dimensional space to be detected, according to the reference signal intensity value arrays corresponding to each reference position in the reference three-dimensional space, determining a predicted signal intensity value array corresponding to each reference position in the three-dimensional space to be detected, wherein the predicted signal intensity value arrays comprise: the signal strength detection device comprises a plurality of predicted signal strength values, wherein each predicted signal strength value is calculated according to a reference signal strength value acquired by a signal detector in the same direction. And establishing an intensity fingerprint library of the three-dimensional space to be detected according to the corresponding relation between the plurality of reference positions and the plurality of predicted signal intensity value arrays.

It should be noted that, the deployment orientations of the signal detector in the reference three-dimensional space and the three-dimensional space to be measured need to be kept the same, so as to ensure that the signal detector detects the signal intensity values from the same direction, so as to determine the intensity fingerprint library of the three-dimensional space to be measured at the position according to the fingerprint intensity library of the reference three-dimensional space.

S20: and acquiring a target signal intensity value acquired by a signal detector in the three-dimensional space to be detected.

In this embodiment, a signal source is placed at an arbitrary position in a three-dimensional space to be measured, the signal source is turned on to transmit a signal, a signal detector is placed at the same azimuth position in the three-dimensional space to be measured as a reference three-dimensional space, and a target signal intensity value is acquired.

S30: and according to the target signal intensity value, determining the position of the signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting an intensity fingerprint library of the three-dimensional space to be detected.

In this embodiment, after the signal detector collects the target signal intensity value when the signal source is located at any position in the three-dimensional space to be measured, the central processing system selects a signal intensity value that is most matched with the target signal intensity value from a plurality of predicted signal intensity values in the intensity fingerprint library in the three-dimensional space to be measured, and determines the position corresponding to the most matched predicted signal intensity value as the target position of the signal source in the three-dimensional space to be measured.

In one implementation manner, in order to improve accuracy of determining the target position, after determining the reference position corresponding to the most matched predicted signal strength value, the reference position may be calibrated according to a difference between the target signal strength value and the most matched predicted signal strength value, so as to obtain the target position of the signal source in the three-dimensional space to be measured.

According to the indoor signal positioning method provided by the embodiment of the application, according to the size information of the three-dimensional space to be detected, the preset intensity fingerprint library of the reference three-dimensional space is processed, and the intensity fingerprint library of the three-dimensional space to be detected is obtained; wherein, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when at a plurality of reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same; acquiring a target signal intensity value acquired by a signal detector in a three-dimensional space to be detected; and according to the target signal intensity value, determining the position of the signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting an intensity fingerprint library of the three-dimensional space to be detected. According to the scheme, the intensity fingerprint library of any three-dimensional space to be detected with the same contour shape can be flexibly expanded and obtained according to the intensity fingerprint library of the reference three-dimensional space, so that the position of a signal source in the three-dimensional space to be detected is determined based on the intensity fingerprint library of the three-dimensional space to be detected and according to the target signal intensity value acquired by the signal detector, the intensity fingerprint library is not required to be acquired and created independently for each three-dimensional space, and the large-scale popularization and use of indoor signal positioning based on the signal intensity are realized.

On the basis of the embodiment, the embodiment of the application also provides a specific implementation mode for determining the intensity fingerprint library of the three-dimensional space to be measured according to the intensity fingerprint library of the reference three-dimensional space.

Referring to fig. 3, a flow chart of another indoor signal positioning method provided in the embodiment of the present application is shown in fig. 3, where in the embodiment, the indoor signal positioning method includes S11-S12, S20 and S30, and S20 and S30 are the same as those of the above embodiment, and are not described herein.

Specifically, the indoor signal positioning method of the embodiment includes:

s11: and carrying out data expansion processing on the reference signal intensity values at a plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected, so as to obtain the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected.

In this embodiment, according to the size information of the three-dimensional space to be measured, the size ratio of the three-dimensional space to be measured relative to the reference three-dimensional space is determined, and the reference signal intensity values at a plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space are expanded or contracted in equal proportion according to the size ratio, so as to obtain the predicted signal intensity values at a plurality of reference positions in the three-dimensional space to be measured.

S12: and determining an intensity fingerprint library of the three-dimensional space to be detected according to the corresponding relation between the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected and the plurality of reference positions.

In this embodiment, according to a plurality of reference positions of the signal source in the three-dimensional space to be measured and the predicted signal intensity values at the plurality of reference positions in the three-dimensional space to be measured obtained in S11, a corresponding relationship is established between the plurality of reference positions and the predicted signal intensity values at the plurality of reference positions in the three-dimensional space to be measured, so as to obtain an intensity fingerprint library of the three-dimensional space to be measured.

According to the indoor signal positioning method, according to size information of a three-dimensional space to be detected, data expansion processing is conducted on reference signal intensity values at a plurality of reference positions in an intensity fingerprint library of the reference three-dimensional space to obtain predicted signal intensity values of signal detectors at the plurality of reference positions in the three-dimensional space to be detected, according to corresponding relations between the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected and the plurality of reference positions, the intensity fingerprint library of the three-dimensional space to be detected is determined, target signal intensity values acquired by the signal detectors in the three-dimensional space to be detected are obtained, according to the target signal intensity values, the intensity fingerprint library of the three-dimensional space to be detected is adopted, and the position of a signal source corresponding to the predicted signal intensity value which is most matched with the target signal intensity value is determined as the target position of the signal source in the three-dimensional space to be detected. According to the scheme, the data expansion processing can be carried out on the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected, so that the intensity fingerprint libraries of different three-dimensional spaces to be detected can be flexibly expanded and obtained according to the three-dimensional spaces to be detected with different sizes, the intensity fingerprint library does not need to be acquired and created independently according to each three-dimensional space, and the large-scale popularization and use of indoor signal positioning based on signal intensity are realized.

On the basis of the embodiment, the embodiment of the application also provides a specific implementation mode for determining the strength fingerprint library of the three-dimensional space to be measured according to the size information of the three-dimensional space to be measured.

Referring to fig. 4, a flow chart of another indoor signal positioning method provided in the embodiment of the present application is shown in fig. 4, where in the embodiment, the indoor signal positioning method includes S111, S112, S12, S20 and S30, and the S12, S20 and S30 are the same as those of the above embodiment, and are not described herein.

Specifically, the indoor signal positioning method of the embodiment includes:

s111: and respectively calculating the mapping relation between the reference signal intensity values and the predicted signal intensity values at the plurality of reference positions according to the size information of the three-dimensional space to be measured, the plurality of reference positions, the size information of the reference three-dimensional space, the target position of the signal detector in the three-dimensional space to be measured and the preset path loss.

In the embodiment, a signal source is placed at a plurality of reference positions of a reference three-dimensional space to send wireless signals, and a signal detector is placed at a preset azimuth of the reference three-dimensional space to collect reference signal intensity values; and placing the signal source at a plurality of reference positions of the three-dimensional space to be measured to send wireless signals, and placing the signal detector at a target position of the three-dimensional space to be measured. Because the wireless signal has attenuation when propagating in the air, the three-dimensional space to be measured and the reference three-dimensional space are three-dimensional spaces with the same outline shape, based on the path loss preset by the signal, the linear distance between the wireless signal transmitted by the signal source in the reference three-dimensional space and the signal source in the three-dimensional space to be measured and the signal detector can be respectively determined according to the size information of the three-dimensional space to be measured, the size information of the reference three-dimensional space, a plurality of reference positions of the signal source and the target positions of the signal detector, and the mapping relation between the reference signal intensity value and the predicted signal intensity value is determined according to the relation between the linear distances.

By way of example, the signal attenuation formula for a wireless signal propagating in air is:

wherein P is the received signal intensity value, the unit is dBm, namely, after the signal source sends a signal, the signal intensity value acquired by the signal detector, and d represents the distance between the signal source and the signal detector; p (P) ₀ Representing the fixed distance d from the signal detector ₀ Signal strength value, n, of a signal transmitted by a signal source _p Is the path loss index. The signal has attenuation in the propagation process, the attenuation condition is related to the propagation environment of the signal, and n is generally _p Floating up and down at 2.

When the distance between the signal source and the signal detector is x times, the received signal intensity value P' is:

as can be seen from the above formula, when the distance is x times, the intensity thereof is 10n _P log ₁₀ (x) Is enlarged or reduced.

In this embodiment, assuming that the outline shapes of the reference three-dimensional space and the three-dimensional space to be measured are both cuboid structures, the length of the reference three-dimensional space is set to be L ₁ Width is S ₁ The linear distance between the signal sent by the signal source and the signal detector is Y ₁ Dividing a reference three-dimensional space into n x n grids, wherein the length of the three-dimensional space to be measured is L ₂ Width is S ₂ The linear distance between the signal sent by the signal source and the signal detector is Y ₂ The position coordinates of the signal source are (x, y), and the position coordinates of the signal detector are (x ₁ ,y ₁ ) Straight distance Y ₁ And Y ₂ The relation between the two is:

the mapping relationship between the reference signal strength value and the predicted signal strength value is:

s112: and according to the mapping relation, carrying out data expansion processing on the reference signal intensity values at a plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space to obtain the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected.

In this embodiment, according to the mapping relationship obtained above, data expansion is performed on the reference signal strength values corresponding to the plurality of reference positions, so as to obtain predicted signal strength values corresponding to the plurality of reference positions.

When the signal detectors are included, according to the positions of the signal detectors in the reference three-dimensional space and the three-dimensional space to be detected, according to the reference signal intensity values of the signal detectors in the plurality of positions at each reference position, the predicted signal intensity values of the signal detectors in the plurality of positions at each reference position are calculated, and therefore the predicted signal intensity values of the plurality of positions corresponding to the plurality of reference positions are obtained.

According to the indoor signal positioning method, mapping relations between reference signal intensity values and predicted signal intensity values at the reference positions in the intensity fingerprint library of the three-dimensional space are calculated respectively according to size information of the three-dimensional space to be detected, the reference positions, size information of the reference three-dimensional space, target positions of the signal detector in the three-dimensional space to be detected and preset path loss, data expansion processing is conducted on the reference signal intensity values at the reference positions in the intensity fingerprint library of the reference three-dimensional space according to the mapping relations, predicted signal intensity values of the signal detector at the reference positions in the three-dimensional space to be detected are obtained, the intensity fingerprint library of the three-dimensional space to be detected is determined according to the corresponding relations between the predicted signal intensity values of the signal detector at the reference positions in the three-dimensional space to be detected and the reference positions, the target signal intensity values collected by the signal detector in the three-dimensional space to be detected are obtained, and the position of the signal source corresponding to the predicted signal intensity value with the target signal intensity value is determined as the target position of the signal source in the three-dimensional space to be detected according to the target signal intensity value. According to the scheme, the mapping relation between the reference signal intensity value and the predicted signal intensity value can be determined according to the size information of the reference three-dimensional space and the three-dimensional space to be detected, the reference position of the signal source and the target position of the signal detector, and the path loss is combined, so that the intensity fingerprint library of any three-dimensional space to be detected with the same contour shape can be flexibly expanded according to the intensity fingerprint library of the reference three-dimensional space, the intensity fingerprint library does not need to be acquired and created independently for each three-dimensional space, and the large-range popularization and use of indoor signal positioning based on the signal intensity are realized.

Based on the above embodiment, the embodiment of the present application further provides a specific implementation manner for determining the target position according to the intensity fingerprint library of the three-dimensional space to be measured.

Referring to fig. 5, a flow chart of another indoor signal positioning method provided in the embodiment of the present application is shown in fig. 5, where in the indoor signal positioning method includes S10, S20, and S31-S33, and S10 and S20 are the same as those in the above embodiment, and are not described herein.

Specifically, the indoor signal positioning method of the embodiment includes:

S31: and calculating the Euclidean distance between the target signal intensity value and the predicted signal intensity value at each reference position in the intensity fingerprint library of the three-dimensional space to be detected.

In this embodiment, the euclidean distance is an intuitive and common similarity algorithm, and the smaller the euclidean distance is, the larger the similarity between two features is; the greater the euclidean distance, the less similarity between the two features. The Euclidean distance between the target signal strength value and the plurality of predicted signal strength values is calculated to determine a similarity between the target signal strength value and the plurality of predicted signal strength values.

In an alternative embodiment, if the number of the signal detectors is multiple, a preset weighted approach algorithm is adopted to calculate Euclidean distances between the target signal intensity value array and the predicted signal intensity value arrays at each reference position in the intensity fingerprint library of the three-dimensional space to be detected; the target signal strength value array comprises: a plurality of signal intensity values acquired by a plurality of signal detectors in a three-dimensional space to be detected; the predicted signal strength value array includes: the signal detectors are used for predicting signal intensity values in the three-dimensional space to be measured.

In this embodiment, if the number of signal detectors in the reference three-dimensional space is plural, each reference position has a correspondence with plural reference signal intensity values, that is, the correspondence between each reference position and the reference signal intensity value array is included in the intensity fingerprint library of the reference three-dimensional space, and similarly, the correspondence between each reference position and the predicted signal intensity value array is also included in the intensity fingerprint library of the three-dimensional space to be measured. After the plurality of signal detectors acquire the plurality of target signal intensity values, a weighted approach algorithm is adopted to calculate Euclidean distances between the plurality of target signal intensity values and the plurality of predicted signal intensity values in each predicted signal intensity value array. The weighted proximity algorithm may be, for example, a K-Nearest Neighbor (KNN) proximity algorithm.

S32: and determining a reference position corresponding to a predicted signal intensity value closest to the Euclidean distance between the target signal intensity values from an intensity fingerprint library of the three-dimensional space to be detected.

In this embodiment, after determining the euclidean distance between the target signal strength value and the plurality of predicted signal strength values, a predicted signal strength value closest to the euclidean distance of the target signal strength value is selected from the plurality of predicted signal strength values to determine a predicted signal strength value having the greatest similarity to the target signal strength value, and a reference position corresponding to the predicted signal strength value closest to the euclidean distance is determined.

S33: and determining the target position of the signal source in the three-dimensional space to be measured according to the reference position corresponding to the predicted signal intensity value with the nearest Euclidean distance.

In this embodiment, after determining the reference position corresponding to the predicted signal strength value with the highest similarity to the target signal strength value, the reference position is calibrated according to the difference between the target signal strength value and the most matched predicted signal strength value, so as to obtain the target position of the signal source in the three-dimensional space to be measured.

In an alternative embodiment, for improving the accuracy of the determined target position, the weights of the K predicted signal strength values may be determined according to the K predicted signal strength values with the nearest euclidean distance and the euclidean distance of the target signal strength value; and calculating the target position of the signal source in the three-dimensional space to be measured according to the reference positions corresponding to the K predicted signal intensity values and the weights of the K predicted signal intensity values.

In this embodiment, K predicted signal strength values closest to the euclidean distance of the target signal strength value are selected from the plurality of predicted signal strength values, and weights of the K predicted signal strength values are determined according to the magnitude of the euclidean distance between the K predicted signal strength values and the target signal strength. And carrying out weighted calculation on the K reference positions according to the weights of the K reference positions according to the K reference positions corresponding to the K predicted signal intensity values, and determining the target position of the signal source in the three-dimensional space to be detected.

According to the indoor signal positioning method provided by the embodiment of the application, according to the size information of the three-dimensional space to be detected, the preset reference three-dimensional space intensity fingerprint library is processed to obtain the three-dimensional space intensity fingerprint library to be detected, the target signal intensity value acquired by the signal detector in the three-dimensional space to be detected is obtained, the Euclidean distance between the target signal intensity value and the predicted signal intensity value at each reference position in the three-dimensional space intensity fingerprint library to be detected is calculated, the reference position corresponding to the predicted signal intensity value closest to the Euclidean distance between the target signal intensity value is determined from the three-dimensional space intensity fingerprint library to be detected, and the target position of the signal source in the three-dimensional space to be detected is determined according to the reference position corresponding to the predicted signal intensity value closest to the Euclidean distance. According to the scheme, the Euclidean distance between the target signal intensity value and the plurality of predicted signal intensity values is calculated, so that the target position of the signal source in the three-dimensional space to be detected is determined according to the reference position corresponding to the predicted signal intensity value with the nearest Euclidean distance, and the target position of the signal source in the three-dimensional space to be detected is determined based on the intensity fingerprint library.

On the basis of the above embodiment, the embodiment of the present application further provides an indoor signal positioning method, please refer to fig. 6, which is a schematic flow chart of still another indoor signal positioning method provided in the embodiment of the present application, as shown in fig. 6, where the step S20 includes:

s21: and acquiring a plurality of wireless signal intensity values acquired by the signal detector.

In this embodiment, in addition to the signal sent by the signal source in this embodiment, there may be other signal emitting devices that send out wireless signals in the three-dimensional space to be measured, so the signal detector inevitably acquires a plurality of wireless signal intensity values.

S22: and determining the signal intensity value corresponding to the signal source as a target signal intensity value from a plurality of wireless signal intensity values according to the preset address of the signal source.

In this embodiment, in order to avoid interference of wireless signals sent by different signal emitting devices on the signal detector, the hardware address of the signal source and the hardware addresses of the plurality of wireless signals may be matched, and a wireless signal strength value corresponding to the wireless signal matched with the hardware address of the signal source may be used as the target signal strength value. For example, the hardware address matching may employ mac addresses (Media Access Control Address, media access control addresses).

In an alternative embodiment, besides signal interference generated by different signal emitting devices on the signal source, when signals emitted by the signal source propagate in a three-dimensional space, the signals propagate to an antenna of the signal detector through multiple paths, so that the detected signal intensity value fluctuates.

According to the indoor signal positioning method, a plurality of wireless signal intensity values acquired by the signal detector are acquired, and the signal intensity value corresponding to the signal source is determined to be the target signal intensity value from the plurality of wireless signal intensity values according to the preset address of the signal source. The scheme address matching of the embodiment determines the signal intensity value corresponding to the signal source from the plurality of wireless signal intensity values, ensures that the target position of the signal source in the three-dimensional space to be detected can be accurately positioned, and improves the accuracy of signal source positioning.

On the basis of the embodiment, the embodiment of the application also provides a virtual device for the indoor signal positioning method. Referring to fig. 7, a schematic structural diagram of an indoor signal positioning device according to an embodiment of the application is shown in fig. 7, where the device includes:

The to-be-measured intensity fingerprint library determining module 10 is used for processing the preset intensity fingerprint library of the reference three-dimensional space according to the size information of the to-be-measured three-dimensional space to obtain an intensity fingerprint library of the to-be-measured three-dimensional space; wherein, the intensity fingerprint library of the reference three-dimensional space stores: when the signal source is at a plurality of reference positions in the reference three-dimensional space, reference signal intensity values of the signal detector are stored in an intensity fingerprint library of the three-dimensional space to be detected: the signal source predicts signal intensity values of the signal detector when at a plurality of reference positions in the three-dimensional space to be detected; the outline shapes of the reference three-dimensional space and the three-dimensional space to be detected are the same, and the deployment directions of the signal detector in the reference three-dimensional space and the three-dimensional space to be detected are the same;

the target signal intensity value acquisition module 20 is used for acquiring a target signal intensity value acquired by a signal detector in the three-dimensional space to be detected;

the target position determining module 30 is configured to determine, according to the target signal strength value, a position of the signal source corresponding to the predicted signal strength value that is most matched with the target signal strength value as a target position of the signal source in the three-dimensional space to be measured by using the strength fingerprint library of the three-dimensional space to be measured.

Optionally, the strength fingerprint library to be measured determining module 10 includes:

the reference signal intensity value determining unit is used for carrying out data expansion processing on the reference signal intensity values at a plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected;

the to-be-measured intensity fingerprint library determining unit is used for determining an intensity fingerprint library of the to-be-measured three-dimensional space according to the corresponding relation between the predicted signal intensity values of the signal detectors at the plurality of reference positions in the to-be-measured three-dimensional space and the plurality of reference positions.

Optionally, the reference signal strength value determining unit includes:

the mapping relation determining subunit is used for respectively calculating mapping relation between the reference signal intensity values and the predicted signal intensity values at the plurality of reference positions according to the size information of the three-dimensional space to be detected, the plurality of reference positions, the size information of the reference three-dimensional space, the target position of the signal detector in the three-dimensional space to be detected and the preset path loss;

and the expansion processing subunit is used for carrying out data expansion processing on the reference signal intensity values at a plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the mapping relation to obtain the predicted signal intensity values of the signal detectors at the plurality of reference positions in the three-dimensional space to be detected.

Optionally, the target location determining module 30 includes:

the Euclidean distance calculating unit is used for calculating Euclidean distances between the target signal intensity value and the predicted signal intensity values at all reference positions in the intensity fingerprint library of the three-dimensional space to be detected;

the reference position determining unit is used for determining a reference position corresponding to a predicted signal intensity value closest to the Euclidean distance between the target signal intensity values from an intensity fingerprint library of the three-dimensional space to be detected;

Optionally, the target position determining unit includes:

Optionally, if the number of the signal detectors is multiple, the euclidean distance calculating unit is specifically configured to calculate, by using a preset weighted approach algorithm, euclidean distances between the target signal intensity value array and the predicted signal intensity value arrays at each reference position in the intensity fingerprint library of the three-dimensional space to be measured;

The target signal strength value array comprises: a plurality of signal intensity values acquired by a plurality of signal detectors in a three-dimensional space to be detected; the predicted signal strength value array includes: the signal detectors are used for predicting signal intensity values in the three-dimensional space to be measured.

Optionally, the target signal strength value acquisition module 20 includes:

the target signal intensity value acquisition unit is used for determining the signal intensity value corresponding to the signal source as a target signal intensity value from a plurality of wireless signal intensity values according to the preset address of the signal source.

The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.

The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASICs), or one or more microprocessors, or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGAs), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

Referring to fig. 8, a schematic diagram of a computer device provided in an embodiment of the present application, as shown in fig. 8, the computer device 100 includes: the processor 101, the storage medium 102 and the bus, where the storage medium 102 stores program instructions executable by the processor 101, and when the computer device 100 runs, the processor 101 communicates with the storage medium 102 through the bus, and the processor 101 executes the program instructions to execute the above method embodiments, and specific implementation and technical effects are similar, and are not repeated herein.

Optionally, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to perform the foregoing method embodiment, and a specific implementation manner and a technical effect are similar, and are not described herein again.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The foregoing is merely illustrative of embodiments of the present invention, and the present invention is not limited thereto, and any changes or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and the present invention is intended to be covered by the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. An indoor signal positioning method, characterized in that the method comprises:

according to the target signal intensity value, determining the position of a signal source corresponding to a predicted signal intensity value which is most matched with the target signal intensity value as a target position of the signal source in the three-dimensional space to be detected by adopting an intensity fingerprint library of the three-dimensional space to be detected;

processing the preset intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be detected to obtain the intensity fingerprint library of the three-dimensional space to be detected, wherein the processing comprises the following steps:

2. The method of claim 1, wherein the performing data expansion processing on the reference signal intensity values at the plurality of reference positions in the intensity fingerprint library of the reference three-dimensional space according to the size information of the three-dimensional space to be measured to obtain predicted signal intensity values of the signal detector at the plurality of reference positions in the three-dimensional space to be measured comprises:

3. The method of claim 1, wherein the determining, according to the target signal strength value, the location of the signal source corresponding to the predicted signal strength value that best matches the target signal strength value as the target location of the signal source in the three-dimensional space to be measured using the strength fingerprint library of the three-dimensional space to be measured, comprises:

4. The method of claim 3, wherein determining the target position of the signal source in the three-dimensional space to be measured according to the reference position corresponding to the predicted signal strength value with the closest euclidean distance comprises:

5. The method of claim 3, wherein if the number of signal detectors is plural, the calculating the euclidean distance between the target signal strength value and the predicted signal strength value at each reference location in the strength fingerprint library of the three-dimensional space under test comprises:

Calculating Euclidean distance between target signal intensity value data and predicted signal intensity value data at each reference position in an intensity fingerprint library of the three-dimensional space to be detected by adopting a preset weighting approach algorithm;

wherein the target signal strength value data includes: a plurality of signal intensity values acquired by a plurality of signal detectors in the three-dimensional space to be detected; the predicted signal strength value data includes: and a plurality of signal detectors are used for predicting a plurality of signal intensity values in the three-dimensional space to be detected.

6. The method of claim 1, wherein the obtaining the target signal strength value collected by the signal detector in the three-dimensional space to be measured comprises:

7. An indoor signal positioning device, the device comprising:

the target position determining module is used for determining the position of a signal source corresponding to a predicted signal intensity value which is most matched with the target signal intensity value as the target position of the signal source in the three-dimensional space to be detected by adopting an intensity fingerprint library of the three-dimensional space to be detected according to the target signal intensity value;

the strength fingerprint storehouse to be measured determining module includes:

8. A computer device, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the computer device is running, the processor executing the program instructions to perform the steps of the indoor signal positioning method according to any one of claims 1 to 6.

9. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the indoor signal localization method according to any one of claims 1 to 6.